Hostname: page-component-78c5997874-dh8gc Total loading time: 0 Render date: 2024-11-08T08:27:38.399Z Has data issue: false hasContentIssue false

Visual detection of differential movement: applications to robotics

Published online by Cambridge University Press:  09 March 2009

M. E. Bowman
Affiliation:
Centre of Robotics and Automated Systems, Imperial Collegé, Exhibition Road, London SW7 (UK)
A. K. Forrest
Affiliation:
Centre of Robotics and Automated Systems, Imperial Collegé, Exhibition Road, London SW7 (UK)

Summary

A method has been developed for accurately determining the differential movement of known objects from multiple camera views. The method has been applied to a robot System to find the repeatability and accuracy of the robot in both rotational and translational terms and also for tracking an object using visual feedback.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kelley, R.B., “Heuristic vision algorithms for bin-picking14th ISIR Proc. 599610 (1984).Google Scholar
2.Raymond, C., Donath, M. and Olson, W.R., “Problems of vision directed robots in an unstructured parts handling environment13th ISIR Proc. 2, 41.141.18 (1983).Google Scholar
3.Kelley, R.B., Birk, J.R., Martins, H.A.S. and Tella, R., “A Robot System which acquires Cylindrical workpieces from binsIEEE Trans. on SMC 12, No. 2, 204213 (1982).Google Scholar
4.Albertson, P., “Verifying Robot PerformanceRobotics Today 5, No. 5, 3336 (10, 1983).Google Scholar
5.Stauffer, R.N., “Robot Accuracy”, Robotics Today 7, No. 2, 4349 (04, 1985).Google Scholar
6.Gilby, J.H. and Parker, G.A., “Laser tracking system to measure robot arm performanceSensor Review 2, No. 4, 180184 (10, 1982).Google Scholar
7.Langmoen, R., Lien, T.K. and Ramsli, E., “Testing of industrial robots” 14th ISIR Proc. 201207 (1984).Google Scholar
8.Ranky, P.G., “Test method and software for robot qualificationThe Industrial Robot 11, No. 2, 111115 (06, 1984).CrossRefGoogle Scholar
9.Roberts, L. G., “Machine Perception of three-dimensional solids” Tech. Report No. 315 MIT – Lincoln Laboratory (05, 1963).Google Scholar
10.Haralick, R.M., “Using Perspective Transformations in Scene AnalysisComputer Graphics and Image Processing 13, 191221 (1980).CrossRefGoogle Scholar
11.Denavit, J. and Hartenberg, R. S., “A Kinematic Notation for Lower-Par Mechanisms based on matricesASME Journal of Applied Mechantcs 22, 215221 (1955).Google Scholar
12.Paul, R., Robot Manipulators: Mathematics, Programming and Control, (MIT Press, Cambridge, Mass., 1981).Google Scholar